Her Majesty even referred to Harry by name in one of her most personal statements yet, following the Duke and Duchess of Sussex's decision to step back as senior royals in March 2020.
Harry appears to share the same cheeky sense of humour as his 95-year-old grandmother and the pair have been known to share a giggle or two in public.
Harry also convinced his grandmother to take part in a hilarious video exchange between the British royals and then US President Barack Obama and his wife Michelle, to promote the Invictus Games in 2016.
HELLO! takes a look at the Queen and Harry's best moments through the years…
WATCH: The Queen and her grandson had a good catch-up outside St George's Chapel in Windsor after Lady Gabriella Windsor and Thomas Kingston's wedding ceremony in 2019.
Harry had just become a father for the first time to baby Archie just weeks before. The Sussexes have kept their UK residence Frogmore Cottage, which is close to Windsor Castle.
Her Majesty looked delighted as she and Harry, then 18, exchanged a gift at a polo match in 2003.
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Harry and Meghan looked absolutely thrilled to see the Queen as they gathered after Princess Eugenie and Jack Brooksbank's wedding ceremony in Windsor in October 2018. Just a few days later as the Sussexes headed off on their royal tour of Australia, the couple announced they were expecting their first child.
The Queen proudly looks at her grandson during a reception for Walking With The Wounded in 2013.
A warm greeting to granny as the pair attended Peter Phillips and Autumn Kelly's wedding in 2008.
An adorable photo of the Queen and her grandsons Prince William and Harry, as they watch the polo in Windsor, in 1987.
The Queen beams with pride as she inspects Prince Harry and his fellow soldiers at their passing-out Sovereign's Parade at Sandhurst Military Academy in 2006.
Harry's gurn had the Queen in stitches as they left Prince Charles and Camilla Parker Bowles' wedding in 2005.
Harry greeted his grandmother with a kiss on the cheek as they attended the Chelsea Flower Show in 2015.